Computation of QFT bounds for robust tracking specifications

An algorithm is proposed for generation of QFT controller bounds to achieve robust tracking specifications. The proposed algorithm uses quadratic constraints and interval plant templates to compute the bounds, and presents several improvements over existing QFT tracking bound generation algorithms. The proposed algorithm (1) guarantees robustness against template inaccuracies, (2) guarantees robustness against phase discretization, (3) provides a posteriori error estimates, (4) is computationally efficient, achieving a reduction in flops and execution time, typically by 1-2 orders of magnitude. The algorithm is demonstrated on an aircraft example having five uncertain parameters.